Whitby and Ravenscar coastguard teams as well as Whitby RNLI volunteers were called after concerns that people were stranded just south of Robin Hood's Bay at 2.04pm.
When they got there, the individuals had managed to make it ashore and were safe and well.
Coastguards checked they did not require any further help and offered some safety advice.
Whitby Coastguard said: "Please ensure that you are well prepared for whatever activity you intend to undertake at the coast.
"In particular, remember to take appropriate equipment for the conditions and check the weather forecast and tide times before you set out.
"If you get into difficulty or you see anyone else in trouble on the coast dial 999 and ask for the coastguard."
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